use_inf(boolean, default: true) - If disabled, report infinite range (no obstacle) as range_max + 1. Otherwise report infinite range as +inf. pointcloud_to_laserscan::LaserScanToPointCloudNode This ROS 2 component re-publishessensor_msgs/msg/LaserScanmessages assensor_msgs/msg/PointCloud2messa...
在ROS中将点云(PointCloud)转换为激光扫描(LaserScan)是一个常见的任务,尤其是在某些机器人系统中,激光雷达数据被用于导航和避障,但传感器输出的是点云数据。这种转换可以通过 pointcloud_to_laserscan 包实现,该包提供了一个节点,可以将接收到的PointCloud2消息转换成LaserScan消息。 安装pointcloud_to_laserscan mkdir...
use_inf (boolean, default: true) - If disabled, report infinite range (no obstacle) as range_max + 1. Otherwise report infinite range as +inf. pointcloud_to_laserscan::LaserScanToPointCloudNode This ROS 2 component re-publishes sensor_msgs/msg/LaserScan messages as sensor_msgs/msg/PointCloud...
在使用ROS各个传感器消息之前,弄清楚各个传感器在ROS是如何表示的显得极为重要。特别是,Laserscan, PointCloud等用了很久之后,感觉已经很熟悉了,但是一些细节行的东西一直没有深究,并且对某些参数难以形成直觉上的认识,很大程度上影响了在与其他算法或者硬件衔接时的问题。这里,我单独的将Laserscan,PointCloud发布在rviz中...
NODELET_INFO("No subscibers to scan, shutting down subscriber to pointcloud"); sub_.unsubscribe(); } } void PointCloudToLaserScanNodelet::failureCb(const sensor_msgs::PointCloud2ConstPtr& cloud_msg, tf2_ros::filter_failure_reasons::FilterFailureReason reason) ...
include/pointcloud_to_laserscan ROS 2 Migration (#33) 5年前 launch ROS 2 Migration (#33) 5年前 src ROS 2 Migration (#33) 5年前 CHANGELOG.rst 2.0.0 5年前 CMakeLists.txt ROS 2 Migration (#33) 5年前 README.md ROS 2 Migration (#33) ...
在ROS 2中,将雷达数据(如sensor_msgs/msg/LaserScan)转换为点云数据(sensor_msgs/msg/PointCloud2)是一个常见的需求。以下是详细的步骤,包括代码示例,来完成这一转换过程: 1. 读取ROS 2雷达数据 首先,需要创建一个ROS 2节点来订阅雷达数据话题。这里假设雷达数据的话题是/scan。 cpp #include <rclcpp/rclcp...
pointcloud_to_laserscan:将3D点云转换为2D激光扫描 ROS 2 pointcloud <-> laserscan转换器 这是ROS 2软件包,提供用于将sensor_msgs/msg/PointCloud2消息转换为sensor_msgs/msg/LaserScan消息并返回的组件。 它实质上是原始ROS 1软件包的端口。 pointcloud_to_laserscan :: PointCloudToLaserScanNode ROS 2组件将...
ros::NodeHandle n; ros::Publisher scan_pub = n.advertise<sensor_msgs::LaserScan>("scan", 50); //我们创建ros::Publisher后面被用来发送LaserScan message unsigned int num_readings = 100; double laser_frequency = 40; double ranges[num_readings]; ...
LaserScan readCartesian readScanAngles lidarScan plot rosReadCartesian rosReadScanAngles rosReadLidarScan rosPlot PointCloud2 apply readXYZ readRGB readAllFieldNames readField scatter3 rosApplyTransform rosReadXYZ rosReadRGB rosReadAllFieldNames rosReadField rosPlot Quaternion readQuaternion rosReadQuaternion ...